Dockerfile improvement (#4)

* tmux script to run entire stack

* remove -j for mac
add and run tmux script

* generalize tmux to work with install path param

* sanitize variable input, improve checking

* add  docker context variable

* check for context variable

* stop as first argument move path to -d argument

* move 'bash -lc' to ENTRYPOINT

* combine layers, fix entry point for docker_all make target

* fast forward dockerfile to match upstream changes

* remove -j

* updated README for docker changes

Author: d-huck

Dockerfile

@@ -5,7 +5,7 @@ RUN apt-get update && \
     apt-get install -y git libgflags-dev libpopt-dev \
                        libgoogle-glog-dev liblua5.1-0-dev \
                        libboost-all-dev libqt5websockets5-dev \
-                       python-is-python3 libeigen3-dev sudo
+                       python-is-python3 libeigen3-dev sudo tmux
 
 # install ros apt deps
 RUN apt-get install -y ros-noetic-tf ros-noetic-angles
@@ -35,5 +35,12 @@ RUN echo "source /opt/ros/noetic/setup.bash\n" \
 
 
 # build deps
-RUN /bin/bash -lc "cd amrl_msgs && make -j"
-RUN /bin/bash -lc "cd ut_automata && make -j"
+RUN /bin/bash -lc "cd amrl_msgs && make"
+RUN /bin/bash -lc "cd ut_automata && make"
+
+# add launcher
+ENV CS378_DOCKER_CONTEXT 1
+COPY --chown=dev:dev ./tmux_session.sh /home/dev/tmux_session.sh
+RUN chmod u+x /home/dev/tmux_session.sh
+CMD [ "/home/dev/tmux_session.sh" ]
+ENTRYPOINT [ "/bin/bash", "-l", "-c" ]

Makefile

@@ -18,7 +18,7 @@ all: build/CMakeLists.txt.copy
 	$(MAKE) --no-print-directory -C build
 
 docker_all: docker_build_q
-	docker run --rm --volume "$(shell pwd)":/home/dev/cs378_starter cs378_starter bash -lc "cd cs378_starter && make -j"
+	docker run --rm --volume "$(shell pwd)":/home/dev/cs378_starter cs378_starter "cd cs378_starter && make -j"
 
 docker_shell: docker_build_q
 	if [ $(shell docker ps -a -f name=cs378_starter_shell | wc -l) -ne 2 ]; then docker run -dit --name cs378_starter_shell --volume "$(shell pwd)":/home/dev/cs378_starter --workdir /home/dev/cs378_starter -p 10272:10272 cs378_starter; fi

README.md

@@ -23,4 +23,8 @@ Please follow the instructions in the UT AUTOmata [reference manual](https://dri
 ### Optional: Building/Running with Docker
 1. Make sure you have Docker installed and set up.
 2. Make sure you are in the root directory of the repository.
-3. Run `make docker_all` to just compile. You can run `make docker_shell` to get a shell within the Docker container. Inside this shell, you can build with `make -j`, as well as run other utilities such as `roscore` and the `ut_automata` websocket and simulator.
+3. Run `make docker_all` to just compile. 
+4. You can run `make docker_shell` to get a shell within the Docker container. The shell will automatically launch `roscore` and the `ut_automata` websocket and simulator inside of a `tmux` session. Inside the shell, you can compile and run your navigation code and connect using localhost in the web visualization. 
+
+For debugging purposes, you can look at the tmux processes at any time by attaching to the session: `tmux a -t ROS`. For more information about `tmux`, refer to the [tmux documentation](https://tmuxguide.readthedocs.io/en/latest/tmux/tmux.html)
+5. To shutdown the docker container, run `make docker_stop`

tmux_session.sh

@@ -0,0 +1,77 @@
+#!/bin/bash
+
+tmux -V > /dev/null 2>&1
+if [ $? -eq 127 ]
+then
+    echo "tmux is not installed! Cannot continue"
+    exit 127
+fi
+
+session="ROS"
+
+tmux has-session -t $session > /dev/null 2>&1
+RUNNING=$?
+
+ARG=$1
+if [[ "${ARG}" == "stop" ]]
+then
+    if [ $RUNNING -ne 0 ]
+    then
+        echo "tmux session is not running."
+        exit 0
+    fi
+    
+    echo "Killing running tmux session"
+    tmux kill-session -t $session > /dev/null 2>&1
+    exit 0
+fi
+
+if [ $RUNNING -eq 0 ]
+then
+    echo "ERROR: tmux session is already running. Kill current session with ./tmux_session.sh stop"
+    exit 127
+fi
+
+
+if [ "${ARG}" == "-d" ]
+then
+    INSTALL_PATH=$2
+    if [ -z "${INSTALL_PATH}" ]
+    then
+        INSTALL_PATH="${HOME}/"
+    fi
+
+    # check for /  at the end
+    if [ ${INSTALL_PATH: -1} != '/' ]
+    then
+        INSTALL_PATH="${INSTALL_PATH}/"
+    fi
+else
+    INSTALL_PATH="${HOME}/"
+fi
+
+if ! [[ -d "${INSTALL_PATH}ut_automata" ]]
+then
+    echo "${INSTALL_PATH}ut_automata does not exist, please provide a valid path using ./tmux_session.sh -d <INSTALL_PATH>"
+    exit 127
+fi
+
+tmux new-session -d -s $session 
+tmux set mouse on
+window=0
+
+tmux rename-window -t $session:$window 'roscore'
+tmux send-keys -t $session:$window 'roscore' C-m
+
+window=1
+tmux new-window -t $session:$window -n 'simulator'
+tmux send-keys -t $session:$window "cd ${INSTALL_PATH}/ut_automata && ./bin/simulator --localize" C-m
+
+window=2
+tmux new-window -t $session:$window -n 'websocket'
+tmux send-keys -t $session:$window "cd ${INSTALL_PATH}/ut_automata && ./bin/websocket" C-m
+
+if ! [ -z ${CS378_DOCKER_CONTEXT+x} ]
+then
+    /bin/bash
+fi